非线性非最小相位系统的半全局自适应输出反馈控制

Semi-global Adaptive Output Feedback Control for Uncertain Nonlinear Systems with Nonminmum-phase

讨论了含有参数不确定性或未知扰动的非最小相位的非线性不确定系统的半全局自适应输出反馈控制问题。当未知参数在一紧集上取值 ,且以线性形式出现时 ,利用Lyapunov方法和逆推 (backstepping)设计方法 。

The problem of semi-global adaptive output feedback control for nonlinear systems.with uncertain parameters or disturbances and nonminmum-phase,is disccused.And the design of the output feedback semi-global adaptive controller,used Lyapunov method and backsteepping design methods,for the system is given,if the uncertain parameters take value on the compact set and enter linearly.